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An automated docking system is presented for an autonomous underwater vehicle utilizing light-field imaging for navigation guidance. This article focuses on three major components of the system: docking position acquisition with light-field imaging, optimal docking trajectory planning, and nonlinear trajectory tracking control. With the camera sensor data of each photographic exposure, depth maps...
In order to control the interaction of industrial robots with soft materials many computationally-intensive sub-tasks have to be performed in parallel, such as material simulations, control policy optimization or path planning among many others. Since the robot control cannot process the amount of information needed for those tasks, the whole system needs to be split up in two parts: the physical...
This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The...
Pedestrian trajectory prediction is important in various applications such as driverless vehicles, social robots, intelligent tracking systems and space planning. Existing methods focus on analysing the influence of neighbours but ignore the effect of the intended destinations of pedestrians which also plays a key role in route planning. In this paper, we propose a novel two- stage trajectory prediction...
This paper presents a high level architecture for a robot, designed for item picking task for E-commerce fulfillment center. The architecture was designed to be modular and has features that allow the robot to operate in an E-commerce warehouse environment, where bin content changes over time. Our system was built upon the Robot Operating System (ROS), with the benefits of abstracting low level machine...
Light weight manipulator is characteristic of high load to weight ratio and high speed operation capability, so it has good prospect for application in warehousing logistics and agricultural picking. In this paper, a 4-DOF lightweight arm is designed and its control system and kinematics are studied. Firstly, the control system of the manipulator is determined. A distributed control system (DCS) based...
This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered...
We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
We present a quadrotor system capable of autonomously landing on a moving platform using only onboard sensing and computing. We rely on state-of-the-art computer vision algorithms, multi-sensor fusion for localization of the robot, detection and motion estimation of the moving platform, and path planning for fully autonomous navigation. Our system does not require any external infrastructure, such...
In this paper, we present a general quadruped locomotion planning method for traversing unstructured terrain. Novel features of our method include the procedure that a body trajectory optimizer based on the Zero Moment Point (ZMP) stability criterion and Linear Inverted Pendulum Model (LIPM). The ZMP trajectory optimizer can be applied to any legged robot which can be approximated by the LIPM model...
Flatness approach is a straightforward method to solve the control problems of flat systems which are a class of systems whose states and control inputs can be expressed by the so-called flat outputs. Some results about flatness of systems and the advantages of studying flatness approach are presented in this paper. By using flatness approach, the controllability and other control problems for some...
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial...
This paper presents a method of kinematics modeling and trajectory planning for NAO robot object grasping. In order to judge and grasp objects autonomously, this method combines the image analysis and kinematics knowledge. Firstly, the collected images by the NAO robot are processed through threshold segmentation and median filtering. According to the shape information of the object, the NAO robot...
This paper studies the velocity decision making problem for nonholonomic wheeled mobile agents under acceleration constrains. Given the attitudes and velocities information of nonholonomic wheeled mobile agent at start point (SP) and end point (EP), the date of motion trajectory is generated based on the cubic Bezier curve. Then, the decision of time optimal maximum allowable velocity trajectory is...
Trajectory planning in airborne networks is a primary application of Unmanned Aerial Vehicle (UAV) communication. The literature contains algorithms focusing on collision avoidance, intelligent task assignment and path planning among UAVs. Cooperative schemes exist in which the UAVs communicate with each other to reach a consensus on how each vehicle will take up one trajectory at a time efficiently...
With the recent advances in the field of autonomous driving, large scale deployment of such vehicles on public roads is both foreseeable and intended by many manufacturers. In order to not only maintain safety, but also driving comfort and comprehensibility at all times it is necessary to develop and implement modularized and standardized interfaces for planning and information exchange. In this paper,...
In this paper, we address the data collection planning problem for fixed-wing unmanned aircraft vehicle (UAV) with a limited travel budget. We formulate the problem as a variant of the Orienteering Problem (OP) in which the Dubins airplane model is utilized to extend the problem into the three-dimensional space and curvature-constrained vehicles. The proposed Dubins Airplane Orienteering Problem (DA-OP)...
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